#ifndef MULTIROTOR_AHRS_H_
#define MULTIROTOR_AHRS_H_

#include "includes.h"

#define RtA 		57.324841				
#define AtR    	0.0174533				
#define Acc_G 	0.0011963				
#define Gyro_G 	0.03051756				
#define Gyro_Gr	0.0005426



extern int16_t MAG[3];			


void AHRS_getValues(void);
void AHRS_Geteuler(void);
void AHRS_GetQ(Quaternion *pNumQ);

#endif /* MULTIROTOR_AHRS_H_ */
